version: 66.14
glider: 204
mission: 8
dive: 80
start: 9 6 121 6 58 27
data:
$ID,204
$MISSION,8
$DIVE,80
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,260
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,80
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,7200
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55599
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0099999998
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,603.25
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,20
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0.5
$LOITER_DBDW,800
$LOITER_D_TOP,80
$LOITER_D_BOTTOM,90
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,127.5
$AH0_10V,100
$MINV_24V,16
$MINV_10V,9.5
$MAXI_24V,1.5
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.54095
$PRESSURE_SLOPE,0.00014064999
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,170
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0.74000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,135
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043722652
$SEABIRD_T_H,0.00063104689
$SEABIRD_T_I,2.5179608e-05
$SEABIRD_T_J,2.8304141e-06
$SEABIRD_C_G,-10.191285
$SEABIRD_C_H,1.1531761
$SEABIRD_C_I,-0.0027973817
$SEABIRD_C_J,0.00030337134
$CP_RECORDABOVE,2000.0
$CP_PROFILE,7.0
$CP_XMITPROFILE,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,146.0
$CP_NDIVE,1.0
$GPS1,060921,065157,4751.3999,-12510.3213,5,0.9,6,15.7,0.2,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-64.2
$GPS2,060921,065721,4751.3994,-12510.3389,4,0.7,5,15.7,0.1,0.0,12,6.9
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,NW_SLOPE
$TGT_LATLONG,4751.690,-12511.250
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,257.6,1253,-24.6,-10.833,-28.76,1110
$D_GRID,285
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.97,-78.6,177,2016,689,412,0.0,0.0,0,138,0.00,0.00,-108.68,0.010,16390,0.000,0.000,177,2018,3121,3109,3134,0,0,0,0,0,0,26.09,24.85,26.17
$GC,141,-0.97,-78.6,177,2018,3110,3134,4.9,-11.0,16,156,8.05,1.08,0.00,0.000,2564,0.226,0.028,2268,1270,3122,3115,3130,0,0,0,0,0,0,25.81,26.08,25.97
$GC,184,-0.97,-78.6,2267,1270,3123,3125,18.9,-20.4,23,192,0.00,1.10,0.00,0.000,1030,0.000,0.039,2265,1985,3124,3124,3125,0,0,0,0,0,0,26.24,26.20,26.26
$GC,322,-0.97,-78.6,2264,1985,3129,3121,43.1,-15.0,48,329,0.00,1.02,0.00,0.000,516,0.000,0.038,2267,1305,3125,3129,3121,0,0,0,0,0,0,26.42,26.31,26.47
$GC,562,-0.97,-78.6,2267,1304,3133,3119,78.7,-12.4,94,570,0.00,1.05,0.00,0.000,1030,0.000,0.035,2265,2002,3126,3133,3119,0,0,0,0,0,0,26.46,26.44,26.46
$GC,698,-0.97,-78.6,2264,2002,3134,3118,95.6,-12.9,119,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2002,3126,3134,3118,0,0,0,0,0,0,26.56,26.63,26.61
$GC,833,-0.97,-78.6,2264,2002,3134,3118,112.6,-12.2,135,836,0.00,1.02,0.00,0.000,260,0.000,0.042,2260,2702,3126,3134,3118,0,0,0,0,0,0,26.60,26.51,26.66
$GC,959,-0.97,-78.6,2259,2702,3135,3118,129.0,-12.6,160,967,0.00,1.02,0.00,0.000,1030,0.000,0.032,2262,1985,3126,3135,3118,0,0,0,0,0,0,26.58,26.57,26.62
$GC,1088,-0.97,-78.6,2262,1984,3135,3117,143.9,-11.7,173,1092,0.00,0.98,0.00,0.000,516,0.000,0.040,2267,1319,3126,3135,3118,0,0,0,0,0,0,26.64,26.55,26.70
$GC,1216,-0.97,-78.6,2267,1319,3136,3117,159.0,-11.8,198,1224,0.00,1.02,0.00,0.000,1030,0.000,0.041,2264,2003,3126,3135,3117,0,0,0,0,0,0,26.59,26.57,26.60
$GC,1343,-0.97,-78.6,2264,2003,3136,3117,174.7,-13.0,211,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2003,3126,3136,3117,0,0,0,0,0,0,26.70,26.79,26.75
$GC,1463,-0.97,-78.6,2264,2003,3136,3116,190.6,-12.9,223,1473,0.00,1.02,0.00,0.000,516,0.000,0.040,2267,1314,3126,3136,3116,0,0,0,0,0,0,26.71,26.55,26.77
$GC,1711,-0.97,-78.6,2267,1313,3136,3116,222.0,-12.3,269,1716,0.00,1.02,0.00,0.000,1030,0.000,0.035,2265,1998,3126,3136,3116,0,0,0,0,0,0,26.65,26.63,26.69
$STATE,1812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1812,begin apogee
$GC,1817,-0.18,0.0,2264,1787,3136,3115,234.3,-11.9,280,1944,0.85,0.00,121.72,0.584,10246,0.159,0.000,2520,1786,2796,2843,2750,0,0,0,0,0,0,26.26,25.44,24.96
$STATE,1949,end apogee,CONTROL_FINISHED_OK
$STATE,1949,begin climb
$GC,1951,0.97,78.6,2519,1786,2833,2739,238.2,0.0,293,2082,1.20,1.12,123.22,0.552,10500,0.117,0.034,2891,2499,2475,2567,2383,0,0,0,0,0,0,25.49,25.08,24.76
$GC,2134,0.97,78.6,2890,2499,2546,2361,225.8,10.9,325,2138,0.00,1.02,0.00,0.000,1030,0.000,0.037,2894,1824,2453,2546,2361,0,0,0,0,0,0,25.68,25.66,25.69
$GC,2267,0.98,83.0,2893,1824,2542,2360,211.6,10.4,339,2271,0.00,1.12,0.00,0.000,548,0.000,0.051,2899,1096,2452,2543,2361,0,0,0,0,0,0,26.07,25.86,26.13
$GC,2492,0.98,83.1,2899,1096,2541,2360,187.9,10.8,382,2501,0.00,1.08,0.00,0.000,1062,0.000,0.035,2896,1796,2450,2541,2360,0,0,0,0,0,0,26.27,26.25,26.30
$GC,2621,0.98,83.1,2896,1796,2540,2359,173.4,11.7,395,2626,0.00,1.05,0.00,0.000,260,0.000,0.046,2890,2505,2449,2539,2359,0,0,0,0,0,0,26.44,26.25,26.48
$GC,2688,0.98,83.1,2891,2505,2537,2359,165.7,11.3,407,2692,0.00,1.05,0.00,0.000,1030,0.000,0.036,2895,1794,2448,2537,2359,0,0,0,0,0,0,26.41,26.36,26.44
$GC,2821,0.98,84.1,2894,1794,2537,2359,151.3,10.7,421,2824,0.00,1.05,0.00,0.000,292,0.000,0.043,2892,2491,2447,2537,2358,0,0,0,0,0,0,26.46,26.40,26.51
$GC,2855,0.98,84.1,2891,2491,2535,2359,147.1,10.9,428,2864,0.00,1.02,0.00,0.000,1030,0.000,0.044,2895,1799,2447,2536,2359,0,0,0,0,0,0,26.39,26.36,26.45
$GC,2984,0.99,88.8,2894,1799,2535,2359,134.0,10.4,441,2988,0.00,1.05,0.00,0.000,548,0.000,0.047,2900,1108,2447,2536,2359,0,0,0,0,0,0,26.57,26.45,26.63
$GC,3146,1.00,103.7,2900,1108,2536,2359,118.1,9.5,472,3179,0.00,1.05,28.92,0.590,9254,0.000,0.036,2897,1798,2377,2479,2275,0,0,0,0,0,0,26.54,26.51,25.59
$GC,3308,1.00,103.7,2896,1798,2458,2250,100.6,12.0,491,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1798,2354,2458,2250,0,0,0,0,0,0,26.39,26.46,26.45
$GC,3445,1.00,103.7,2896,1798,2456,2250,84.4,10.8,516,3452,0.00,1.05,0.00,0.000,260,0.000,0.044,2891,2500,2352,2455,2250,0,0,0,0,0,0,26.44,26.36,26.51
$GC,3685,1.04,137.4,2891,2500,2452,2250,63.1,7.7,562,3737,0.05,1.02,46.42,0.543,11302,0.111,0.038,2919,1803,2241,2362,2121,0,0,0,0,0,0,26.32,26.46,25.41
$GC,3863,1.06,154.2,2918,1803,2336,2095,45.1,9.3,593,3886,0.00,1.05,15.77,0.562,8484,0.000,0.106,2915,2512,2166,2292,2041,0,0,0,0,0,0,26.22,25.64,25.41
$GC,3919,1.11,191.0,2916,2512,2276,2024,40.7,7.4,602,3980,0.05,1.08,55.58,0.506,11302,0.120,0.037,2938,1796,2021,2157,1885,0,0,0,0,0,0,25.96,26.09,25.15
$GC,4105,1.12,200.8,2937,1796,2126,1853,22.3,9.9,634,4114,0.00,1.08,0.00,0.000,548,0.000,0.048,2943,1106,1989,2125,1853,0,0,0,0,0,0,26.08,26.01,26.14
$GC,4253,1.17,241.4,2942,1106,2122,1853,9.3,7.1,661,4326,0.05,1.08,67.88,0.486,11298,0.183,0.038,2955,1811,1831,1976,1687,0,0,0,0,0,0,25.97,26.21,26.08
$STATE,4327,end climb,SURFACE_DEPTH_REACHED
$STATE,4327,begin surface coast
$FINISH,-0.4,1.025435
$STATE,4343,end surface coast,CONTROL_FINISHED_OK
$STATE,4344,begin surface
$SM_CCo,4363,214.27,0.613,1,0,550,551.92
$SM_CCo,4586,-0.38,0.126,0,0,550,550.94
$SM_CCo,4589,0.03,2.958,0,0,550,551.92
$SM_GC,0.51,7.90,0.25,0.03,0.062,0.054,2.958,177,2003,550,-7.41,-1.67,551.92,0,0,0,0,0,0,25.86,25.83,23.97
$IRIDIUM_FIX,4755.34,-12624.56,060921,053303
$TT8_MAMPS,0.02247,0.148302
$HUMID,53.74
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,212.2,41.9
$CP_FREE,116740030464.000000
$CP_POWER,328.190000
$CP_POWER1,0.000000
$24V_AH,23.97,15.733
$10V_AH,10.27,8.956
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.150,27.825,459.525,214.300,0.000,0.000,0.000,205.400,2.000,0.000,17.068,1441.944,911.057,694.715,1659.605,254.664,0.000,1562.087,0.000,1486.551,0.000,18.130,0.000
$DEVICE_MAMPS,226.440,106.335,589.815,2958.255,0.000,0.000,0.000,100.215,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,376.806,1193.407,0.000,0.000,0.000,0.000,4232.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211216
$DATA_FILE_SIZE,33493,674
$CAP_FILE_SIZE,82413,0
$CFSIZE,260030464,244113408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.098,347.81,1
$GPS,060921,081601,4751.649,-12510.948,18,0.9,19,15.7,0.6,297.8,10,4.3